ROBOTIC ADAPTIVE IMPEDANCE CONTROL BASED ON VISUAL GUIDANCE

被引：0
|
作者：
Li Erchao [1 ]
Li Zhanming [1 ]
He Junxue [1 ]
机构：
[1] Lanzhou Univ Technol, Lanzhou, Peoples R China
来源：
INTERNATIONAL JOURNAL ON SMART SENSING AND INTELLIGENT SYSTEMS | 2015年 / 8卷 / 04期
关键词：
robot; vision; impedance control; support vector regression; Jacobian matrix;
D O I：
10.21307/ijssis-2017-847
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
Uncalibrated visual servoing based on SVR-Jacobian estimator is proposed in unknown environment. Multiple support vector regression (SVR) machines are used to estimate the Jacobian matrix of images, and the nonlinear mapping between the image features of the curved line and the robot joint angle is constructed, uncalibrated robot impedance control can be carried out. Image Jacobian matrix expression with Gaussian kernel is put forward, the effectiveness of the presented approach is verified by using a 6 DOF robot with a CCD camera and a force/torque sensor installed in its end effector.
引用
收藏
页码：2159 / 2174
页数：16
相关论文
共 50 条
  • [31] Model-Free Adaptive Impedance Control for Autonomous Robotic Sanding
    Huo, Yingxin
    Li, Peng
    Chen, Diancheng
    Liu, Yun-Hui
    Li, Xiang
    IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING, 2022, 19 (04) : 3601 - 3611
  • [32] VISUAL GUIDANCE OF LOCOMOTION - HUMAN AND ROBOTIC
    HABER, RN
    BULLETIN OF THE PSYCHONOMIC SOCIETY, 1990, 28 (06) : 503 - 503
  • [33] Event-Triggered Adaptive Neural Impedance Control of Robotic Systems
    Ding, Shuai
    Peng, Jinzhu
    Zhang, Hui
    Wang, Yaonan
    IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS, 2024, 35 (10) : 14330 - 14340
  • [34] Adaptive Impedance Control for Robotic Polishing with an Intelligent Digital Compliant Grinder
    Xie, Qianlong
    Zhao, Huan
    Wang, Tao
    Ding, Han
    INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2019, PART VI, 2019, 11745 : 482 - 494
  • [35] Adaptive Sliding Mode Impedance Control in Lower Limbs Rehabilitation Robotic
    Cao, Fucheng
    Li, Yuanchun
    Shi, Jixia
    2013 CHINESE AUTOMATION CONGRESS (CAC), 2013, : 310 - 315
  • [36] Visual guidance control based on velocity mapping
    Song, KT
    Sheu, FC
    INTELLIGENT AUTONOMOUS VECHICLES 1998 (IAV'98), 1998, : 333 - 338
  • [37] Visual guidance control based on the Hough transform
    Djekoune, AO
    Achour, K
    PROCEEDINGS OF THE IEEE INTELLIGENT VEHICLES SYMPOSIUM 2000, 2000, : 614 - 619
  • [38] Adaptive control and impedance control for dual robotic arms manipulating a common heavy load
    Nagchaudhuri, A
    Garg, DP
    2001 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS PROCEEDINGS, VOLS I AND II, 2001, : 683 - 688
  • [39] Deep submergence rescue vehicle docking based on parameter adaptive control with acoustic and visual guidance
    Sun, Yushan
    Ran, Xiangrui
    Cao, Jian
    Li, Yueming
    INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2020, 17 (02)
  • [40] Adaptive Impedance Control of a Human-Robotic System Based on Motion Intention Estimation and Output Constraints
    Ma, Junjie
    Chen, Hongjun
    Liu, Xinglan
    Yang, Yong
    Huang, Deqing
    APPLIED SCIENCES-BASEL, 2025, 15 (03):
12345